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<div class="title">robotConnectionCallbacks.cpp</div>  </div>
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<p>Demonstrates how callbacks can be registered with <a class="el" href="classArRobot.html" title="Central class for communicating with and operating the robot. ">ArRobot</a> to be called when a connection succeeds or fails.</p>
<div class="fragment"><div class="line"><span class="preprocessor">#include &quot;Aria.h&quot;</span></div><div class="line"></div><div class="line"><span class="comment">/*</span></div><div class="line"><span class="comment">  This class contains the methods called by the connection callback functors.</span></div><div class="line"><span class="comment">*/</span></div><div class="line"><span class="keyword">class </span>ConnHandler</div><div class="line">{</div><div class="line"><span class="keyword">public</span>:</div><div class="line">  <span class="comment">// Constructor</span></div><div class="line">  ConnHandler(<a name="_a0"></a><a class="code" href="classArRobot.html">ArRobot</a> *robot);</div><div class="line"></div><div class="line">  <span class="comment">// Destructor, its just empty</span></div><div class="line">  ~ConnHandler(<span class="keywordtype">void</span>) {}</div><div class="line">  </div><div class="line">  <span class="comment">// called if the connection was sucessfully made</span></div><div class="line">  <span class="keywordtype">void</span> connected(<span class="keywordtype">void</span>);</div><div class="line"></div><div class="line">  <span class="comment">// called if the connection failed. stop the robot processing thread.</span></div><div class="line">  <span class="keywordtype">void</span> connectionFailed(<span class="keywordtype">void</span>);</div><div class="line"></div><div class="line">  <span class="comment">// called when the connection is closed</span></div><div class="line">  <span class="keywordtype">void</span> disconnected(<span class="keywordtype">void</span>);</div><div class="line"></div><div class="line">  <span class="comment">// called if the connection is lost due to an error</span></div><div class="line">  <span class="keywordtype">void</span> connectionLost(<span class="keywordtype">void</span>);</div><div class="line"></div><div class="line"><span class="keyword">protected</span>:</div><div class="line">  <span class="comment">// keep a robot pointer</span></div><div class="line">  <a class="code" href="classArRobot.html">ArRobot</a> *myRobot;</div><div class="line"></div><div class="line">  <span class="comment">// the functor callbacks</span></div><div class="line">  <a name="_a1"></a><a class="code" href="classArFunctorC.html">ArFunctorC&lt;ConnHandler&gt;</a> myConnectedCB;</div><div class="line">  <a class="code" href="classArFunctorC.html">ArFunctorC&lt;ConnHandler&gt;</a> myConnFailCB;</div><div class="line">  <a class="code" href="classArFunctorC.html">ArFunctorC&lt;ConnHandler&gt;</a> myDisconnectedCB;</div><div class="line">  <a class="code" href="classArFunctorC.html">ArFunctorC&lt;ConnHandler&gt;</a> myConnLostCB;</div><div class="line">};</div><div class="line"></div><div class="line"><span class="comment">/* ConnHandler constructor. Initialize functor objects, then</span></div><div class="line"><span class="comment"> * add them as connection handler callbacks with the robot object.</span></div><div class="line"><span class="comment">*/</span></div><div class="line">ConnHandler::ConnHandler(<a class="code" href="classArRobot.html">ArRobot</a> *robot) :</div><div class="line">  myConnectedCB(<span class="keyword">this</span>, &amp;ConnHandler::connected),  </div><div class="line">  myConnFailCB(<span class="keyword">this</span>, &amp;ConnHandler::connectionFailed),</div><div class="line">  myDisconnectedCB(<span class="keyword">this</span>, &amp;ConnHandler::disconnected),</div><div class="line">  myConnLostCB(<span class="keyword">this</span>, &amp;ConnHandler::connectionLost)</div><div class="line"></div><div class="line">{</div><div class="line">  <span class="comment">// keep a robot pointer for use by the handler callback methods</span></div><div class="line">  myRobot = robot;</div><div class="line"></div><div class="line">  <span class="comment">// add the callbacks to the robot</span></div><div class="line">  myRobot-&gt;<a name="a2"></a><a class="code" href="classArRobot.html#aa2d179de23b698c94d5bfc72eccdc4f9">addConnectCB</a>(&amp;myConnectedCB, <a name="a3"></a><a class="code" href="classArListPos.html#adb42d52c70a646c5698c5513cd25bbd0a7573a55fbcdb54b1768e9ce574407d15">ArListPos::FIRST</a>);</div><div class="line">  myRobot-&gt;addFailedConnectCB(&amp;myConnFailCB, <a class="code" href="classArListPos.html#adb42d52c70a646c5698c5513cd25bbd0a7573a55fbcdb54b1768e9ce574407d15">ArListPos::FIRST</a>);</div><div class="line">  myRobot-&gt;addDisconnectNormallyCB(&amp;myDisconnectedCB, <a class="code" href="classArListPos.html#adb42d52c70a646c5698c5513cd25bbd0a7573a55fbcdb54b1768e9ce574407d15">ArListPos::FIRST</a>);</div><div class="line">  myRobot-&gt;addDisconnectOnErrorCB(&amp;myDisconnectedCB, <a class="code" href="classArListPos.html#adb42d52c70a646c5698c5513cd25bbd0a7573a55fbcdb54b1768e9ce574407d15">ArListPos::FIRST</a>);</div><div class="line">}</div><div class="line"></div><div class="line"><span class="comment">// just exit if the connection failed</span></div><div class="line"><span class="keywordtype">void</span> ConnHandler::connectionFailed(<span class="keywordtype">void</span>)</div><div class="line">{</div><div class="line">  <a name="a4"></a><a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a name="a5"></a><a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a7040faf60eeb155eaa85d439b1066ca1">ArLog::Normal</a>, <span class="stringliteral">&quot;ConnHandler: Connection failed. Exiting the program.&quot;</span>);</div><div class="line">  <a name="a6"></a><a class="code" href="classAria.html#a6abc3d39b3e9548063bb8e78375acc17">Aria::exit</a>(1);</div><div class="line">}</div><div class="line"></div><div class="line"><span class="keywordtype">void</span> ConnHandler::connected(<span class="keywordtype">void</span>)</div><div class="line">{</div><div class="line">  <a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a7040faf60eeb155eaa85d439b1066ca1">ArLog::Normal</a>, <span class="stringliteral">&quot;ConnHandler: Connected. Turning off sonar,&quot;</span>);</div><div class="line">  <span class="comment">// turn off sonar, turn off amigobot sounds</span></div><div class="line">  myRobot-&gt;comInt(<a name="a7"></a><a class="code" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a891b21e6cabc8a2296c8bceca20be779">ArCommands::SONAR</a>, 0);</div><div class="line">  myRobot-&gt;comInt(<a name="a8"></a><a class="code" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a7a256695b7937192e88c976d2fd106e5">ArCommands::SOUNDTOG</a>, 0);</div><div class="line">}</div><div class="line"></div><div class="line"><span class="comment">// disconnected</span></div><div class="line"><span class="keywordtype">void</span> ConnHandler::disconnected(<span class="keywordtype">void</span>)</div><div class="line">{</div><div class="line">  <a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a7040faf60eeb155eaa85d439b1066ca1">ArLog::Normal</a>, <span class="stringliteral">&quot;ConnHandler: Connection closed. Exiting the program.&quot;</span>);</div><div class="line">  <a class="code" href="classAria.html#a6abc3d39b3e9548063bb8e78375acc17">Aria::exit</a>(0);</div><div class="line">}</div><div class="line"></div><div class="line"><span class="comment">// lost connection due to errror, exit</span></div><div class="line"><span class="keywordtype">void</span> ConnHandler::connectionLost(<span class="keywordtype">void</span>)</div><div class="line">{</div><div class="line">  <a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a7040faf60eeb155eaa85d439b1066ca1">ArLog::Normal</a>, <span class="stringliteral">&quot;ConnHandler: Lost connection due to an error! Exiting the program!&quot;</span>);</div><div class="line">  <a class="code" href="classAria.html#a6abc3d39b3e9548063bb8e78375acc17">Aria::exit</a>(1);</div><div class="line">}</div><div class="line"></div><div class="line"></div><div class="line"></div><div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv) </div><div class="line">{</div><div class="line">  <a name="a9"></a><a class="code" href="classAria.html#ad99c16b5d947229d9f8e1c5b2d4cdd73">Aria::init</a>();</div><div class="line">  <a name="_a10"></a><a class="code" href="classArArgumentParser.html">ArArgumentParser</a> parser(&amp;argc, argv);</div><div class="line">  parser.<a name="a11"></a><a class="code" href="classArArgumentParser.html#a501694b62a7f8b0c3cadd84aeafe1b35">loadDefaultArguments</a>();</div><div class="line">  <a class="code" href="classArRobot.html">ArRobot</a> robot;</div><div class="line"></div><div class="line">  <span class="comment">// Create a connection handler object, defined above, then try to connect to the</span></div><div class="line">  <span class="comment">// robot.</span></div><div class="line">  ConnHandler ch(&amp;robot);</div><div class="line"></div><div class="line">  <a name="_a12"></a><a class="code" href="classArRobotConnector.html">ArRobotConnector</a> robotConnector(&amp;parser, &amp;robot);</div><div class="line">  <span class="keywordflow">if</span>(!robotConnector.<a name="a13"></a><a class="code" href="classArRobotConnector.html#ab192ac393d9cc1e5b61b1a82b08d085d">connectRobot</a>())</div><div class="line">  {</div><div class="line">    <a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a name="a14"></a><a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a012daf6573594f91242f8dd7c02eb74b">ArLog::Terse</a>, <span class="stringliteral">&quot;robotConnectionCallbacks: Could not connect to the robot.&quot;</span>);</div><div class="line">    <span class="keywordflow">if</span>(parser.<a name="a15"></a><a class="code" href="classArArgumentParser.html#ac3889cbdfa862031c51bf80e06954914">checkHelpAndWarnUnparsed</a>())</div><div class="line">    {</div><div class="line">        <span class="comment">// -help not given</span></div><div class="line">        <a name="a16"></a><a class="code" href="classAria.html#a10d71f3d4d0cf7f38c58a1f749f64a42">Aria::logOptions</a>();</div><div class="line">        <a class="code" href="classAria.html#a6abc3d39b3e9548063bb8e78375acc17">Aria::exit</a>(1);</div><div class="line">    }</div><div class="line">  }</div><div class="line"></div><div class="line">  <span class="keywordflow">if</span> (!<a name="a17"></a><a class="code" href="classAria.html#a1b090c01d88bb420b8cf8e0384d25ee1">Aria::parseArgs</a>() || !parser.<a class="code" href="classArArgumentParser.html#ac3889cbdfa862031c51bf80e06954914">checkHelpAndWarnUnparsed</a>())</div><div class="line">  {</div><div class="line">    <a class="code" href="classAria.html#a10d71f3d4d0cf7f38c58a1f749f64a42">Aria::logOptions</a>();</div><div class="line">    <a class="code" href="classAria.html#a6abc3d39b3e9548063bb8e78375acc17">Aria::exit</a>(1);</div><div class="line">  }</div><div class="line"></div><div class="line">  <a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a7040faf60eeb155eaa85d439b1066ca1">ArLog::Normal</a>, <span class="stringliteral">&quot;robotConnectionCallbacks: Connected.&quot;</span>);</div><div class="line"></div><div class="line">  robot.<a name="a18"></a><a class="code" href="classArRobot.html#a3c3d878cfd11a2ef91230005a83bfcaa">runAsync</a>(<span class="keyword">true</span>);</div><div class="line"></div><div class="line">  <span class="comment">// Sleep for 10 seconds, then request that ArRobot stop its thread.</span></div><div class="line">  <a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a7040faf60eeb155eaa85d439b1066ca1">ArLog::Normal</a>, <span class="stringliteral">&quot;Sleeping for 10 seconds...&quot;</span>);</div><div class="line">  <a name="a19"></a><a class="code" href="group__easy.html#ga4dfb878a3f9123b8dd96ae05b2fd94cb">ArUtil::sleep</a>(10000);</div><div class="line">  <a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a7040faf60eeb155eaa85d439b1066ca1">ArLog::Normal</a>, <span class="stringliteral">&quot;...requesting that the robot thread exit, then shutting down ARIA and exiting.&quot;</span>);</div><div class="line">  robot.<a name="a20"></a><a class="code" href="group__easy.html#gaff02cf7043c2e7239ec6b6e11ff6b146">stopRunning</a>();</div><div class="line">  <a class="code" href="classAria.html#a6abc3d39b3e9548063bb8e78375acc17">Aria::exit</a>(0);</div><div class="line">  <span class="keywordflow">return</span> 0;</div><div class="line">}</div><div class="line"></div></div><!-- fragment --> </div><!-- contents -->
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